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<div class="title">sift_keypoint.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
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<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
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<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#ifndef PCL_SIFT_KEYPOINT_H_</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#define PCL_SIFT_KEYPOINT_H_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &lt;pcl/keypoints/keypoint.h&gt;</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;{</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="structpcl_1_1_s_i_f_t_keypoint_field_selector.html">   44</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structpcl_1_1_s_i_f_t_keypoint_field_selector.html">SIFTKeypointFieldSelector</a></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  {</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    operator () (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp; p)<span class="keyword"> const</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;      <span class="keywordflow">return</span> p.intensity;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    }</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  };</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keyword">template</span>&lt;&gt;</div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="structpcl_1_1_s_i_f_t_keypoint_field_selector_3_01_point_normal_01_4.html">   53</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structpcl_1_1_s_i_f_t_keypoint_field_selector.html">SIFTKeypointFieldSelector</a>&lt;<a class="code" href="structpcl_1_1_point_normal.html">PointNormal</a>&gt;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  {</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    operator () (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_normal.html">PointNormal</a> &amp; p)<span class="keyword"> const</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keywordflow">return</span> p.curvature;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    }</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  };</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keyword">template</span>&lt;&gt;</div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="structpcl_1_1_s_i_f_t_keypoint_field_selector_3_01_point_x_y_z_r_g_b_01_4.html">   62</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structpcl_1_1_s_i_f_t_keypoint_field_selector.html">SIFTKeypointFieldSelector</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">PointXYZRGB</a>&gt;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  {</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    operator () (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">PointXYZRGB</a> &amp; p)<span class="keyword"> const</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (299*p.r + 587*p.g + 114*p.b) / 1000.0f);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    }</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  };</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="keyword">template</span>&lt;&gt;</div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="structpcl_1_1_s_i_f_t_keypoint_field_selector_3_01_point_x_y_z_r_g_b_a_01_4.html">   71</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structpcl_1_1_s_i_f_t_keypoint_field_selector.html">SIFTKeypointFieldSelector</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a>&gt;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    operator () (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &amp; p)<span class="keyword"> const</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (299*p.r + 587*p.g + 114*p.b) / 1000.0f);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    }</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  };</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt;</div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_i_f_t_keypoint.html">   94</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_s_i_f_t_keypoint.html">SIFTKeypoint</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint</a>&lt;PointInT, PointOutT&gt;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  {</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;SIFTKeypoint&lt;PointInT, PointOutT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const SIFTKeypoint&lt;PointInT, PointOutT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Keypoint&lt;PointInT, PointOutT&gt;::PointCloudIn</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Keypoint&lt;PointInT, PointOutT&gt;::PointCloudOut</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1search_1_1_search.html">Keypoint&lt;PointInT, PointOutT&gt;::KdTree</a> <a class="code" href="classpcl_1_1search_1_1_search.html">KdTree</a>;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::name_</a>;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::input_</a>;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::indices_</a>;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::surface_</a>;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::tree_</a>;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::initCompute</a>;    </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_i_f_t_keypoint.html#a8873bdacc195701f40e7145a2cf23b96">  112</a></span>&#160;      <a class="code" href="classpcl_1_1_s_i_f_t_keypoint.html#a8873bdacc195701f40e7145a2cf23b96">SIFTKeypoint</a> () : <a class="code" href="classpcl_1_1_s_i_f_t_keypoint.html#a79b4f1c9356c27051d7ec7a2c471b991">min_scale_</a> (0.0), <a class="code" href="classpcl_1_1_s_i_f_t_keypoint.html#ab907e9fe76da88d568ab5d1c8151d6d9">nr_octaves_</a> (0), <a class="code" href="classpcl_1_1_s_i_f_t_keypoint.html#a259a9b80428da022653896a1c16372cc">nr_scales_per_octave_</a> (0), </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <a class="code" href="classpcl_1_1_s_i_f_t_keypoint.html#ac982d9e5cb07edb578b262e588c08841">min_contrast_</a> (-std::numeric_limits&lt;float&gt;::max ()), <a class="code" href="classpcl_1_1_s_i_f_t_keypoint.html#a49af88108a4e7a9e769185be0c5dc84a">scale_idx_</a> (-1), </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <a class="code" href="classpcl_1_1_s_i_f_t_keypoint.html#abe6d16ca2a452c065d83f32f7a9416d6">out_fields_</a> (), getFieldValue_ ()</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      {</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">name_</a> = <span class="stringliteral">&quot;SIFTKeypoint&quot;</span>;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      }</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      <a class="code" href="classpcl_1_1_s_i_f_t_keypoint.html#aa7b165d782eca9c9d226504b84729439">setScales</a> (<span class="keywordtype">float</span> min_scale, <span class="keywordtype">int</span> nr_octaves, <span class="keywordtype">int</span> nr_scales_per_octave);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <a class="code" href="classpcl_1_1_s_i_f_t_keypoint.html#a5fcabfa4b90cc77cf0c18a5b263d06a0">setMinimumContrast</a> (<span class="keywordtype">float</span> min_contrast);</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      initCompute ();</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <a class="code" href="classpcl_1_1_s_i_f_t_keypoint.html#a9ce260543a3fe87f0e70c1b6f8fd9b28">detectKeypoints</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <a class="code" href="classpcl_1_1_s_i_f_t_keypoint.html#a2b424cc026e8d0a693697a22eb360cfc">detectKeypointsForOctave</a> (<span class="keyword">const</span> PointCloudIn &amp;input, <a class="code" href="classpcl_1_1_kd_tree.html">KdTree</a> &amp;tree, </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;                                <span class="keywordtype">float</span> base_scale, <span class="keywordtype">int</span> nr_scales_per_octave, </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;                                PointCloudOut &amp;output);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      <a class="code" href="classpcl_1_1_s_i_f_t_keypoint.html#a7b381aa10dc8c1701e7f1764a620bb8a">computeScaleSpace</a> (<span class="keyword">const</span> PointCloudIn &amp;input, <a class="code" href="classpcl_1_1_kd_tree.html">KdTree</a> &amp;tree, </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;                         <span class="keyword">const</span> std::vector&lt;float&gt; &amp;scales, </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;                         Eigen::MatrixXf &amp;diff_of_gauss);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      <a class="code" href="classpcl_1_1_s_i_f_t_keypoint.html#a2523f0256ba669b659a039da1b18a95c">findScaleSpaceExtrema</a> (<span class="keyword">const</span> PointCloudIn &amp;input, <a class="code" href="classpcl_1_1_kd_tree.html">KdTree</a> &amp;tree, </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;                             <span class="keyword">const</span> Eigen::MatrixXf &amp;diff_of_gauss,</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;                             std::vector&lt;int&gt; &amp;extrema_indices, std::vector&lt;int&gt; &amp;extrema_scales);</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_i_f_t_keypoint.html#a79b4f1c9356c27051d7ec7a2c471b991">  182</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_s_i_f_t_keypoint.html#a79b4f1c9356c27051d7ec7a2c471b991">min_scale_</a>;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_i_f_t_keypoint.html#ab907e9fe76da88d568ab5d1c8151d6d9">  185</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_s_i_f_t_keypoint.html#ab907e9fe76da88d568ab5d1c8151d6d9">nr_octaves_</a>;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_i_f_t_keypoint.html#a259a9b80428da022653896a1c16372cc">  188</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_s_i_f_t_keypoint.html#a259a9b80428da022653896a1c16372cc">nr_scales_per_octave_</a>;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_i_f_t_keypoint.html#ac982d9e5cb07edb578b262e588c08841">  191</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_s_i_f_t_keypoint.html#ac982d9e5cb07edb578b262e588c08841">min_contrast_</a>;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_i_f_t_keypoint.html#a49af88108a4e7a9e769185be0c5dc84a">  195</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_s_i_f_t_keypoint.html#a49af88108a4e7a9e769185be0c5dc84a">scale_idx_</a>;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_i_f_t_keypoint.html#abe6d16ca2a452c065d83f32f7a9416d6">  198</a></span>&#160;      std::vector&lt;pcl::PCLPointField&gt; <a class="code" href="classpcl_1_1_s_i_f_t_keypoint.html#abe6d16ca2a452c065d83f32f7a9416d6">out_fields_</a>;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      <a class="code" href="structpcl_1_1_s_i_f_t_keypoint_field_selector.html">SIFTKeypointFieldSelector&lt;PointInT&gt;</a> getFieldValue_;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  };</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;}</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;<span class="preprocessor">#include &lt;pcl/keypoints/impl/sift_keypoint.hpp&gt;</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// #ifndef PCL_SIFT_KEYPOINT_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1_kd_tree.html">pcl::KdTree</a></div><div class="ttdoc">KdTree represents the base spatial locator class for kd-tree implementations.</div><div class="ttdef"><b>Definition:</b> kdtree.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html"><div class="ttname"><a href="classpcl_1_1_keypoint.html">pcl::Keypoint</a></div><div class="ttdoc">Keypoint represents the base class for key points.</div><div class="ttdef"><b>Definition:</b> keypoint.h:50</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_aef5710b81d66e6d429a9dfeb41d606ff"><div class="ttname"><a href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">pcl::Keypoint::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdoc">The key point detection method's name.</div><div class="ttdef"><b>Definition:</b> keypoint.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_s_i_f_t_keypoint_html"><div class="ttname"><a href="classpcl_1_1_s_i_f_t_keypoint.html">pcl::SIFTKeypoint</a></div><div class="ttdoc">SIFTKeypoint detects the Scale Invariant Feature Transform keypoints for a given point cloud dataset ...</div><div class="ttdef"><b>Definition:</b> sift_keypoint.h:95</div></div>
<div class="ttc" id="aclasspcl_1_1_s_i_f_t_keypoint_html_a2523f0256ba669b659a039da1b18a95c"><div class="ttname"><a href="classpcl_1_1_s_i_f_t_keypoint.html#a2523f0256ba669b659a039da1b18a95c">pcl::SIFTKeypoint::findScaleSpaceExtrema</a></div><div class="ttdeci">void findScaleSpaceExtrema(const PointCloudIn &amp;input, KdTree &amp;tree, const Eigen::MatrixXf &amp;diff_of_gauss, std::vector&lt; int &gt; &amp;extrema_indices, std::vector&lt; int &gt; &amp;extrema_scales)</div><div class="ttdoc">Find the local minima and maxima in the provided difference-of-Gaussian (DoG) scale space</div><div class="ttdef"><b>Definition:</b> sift_keypoint.hpp:262</div></div>
<div class="ttc" id="aclasspcl_1_1_s_i_f_t_keypoint_html_a259a9b80428da022653896a1c16372cc"><div class="ttname"><a href="classpcl_1_1_s_i_f_t_keypoint.html#a259a9b80428da022653896a1c16372cc">pcl::SIFTKeypoint::nr_scales_per_octave_</a></div><div class="ttdeci">int nr_scales_per_octave_</div><div class="ttdoc">The number of scales to be computed for each octave.</div><div class="ttdef"><b>Definition:</b> sift_keypoint.h:188</div></div>
<div class="ttc" id="aclasspcl_1_1_s_i_f_t_keypoint_html_a2b424cc026e8d0a693697a22eb360cfc"><div class="ttname"><a href="classpcl_1_1_s_i_f_t_keypoint.html#a2b424cc026e8d0a693697a22eb360cfc">pcl::SIFTKeypoint::detectKeypointsForOctave</a></div><div class="ttdeci">void detectKeypointsForOctave(const PointCloudIn &amp;input, KdTree &amp;tree, float base_scale, int nr_scales_per_octave, PointCloudOut &amp;output)</div><div class="ttdoc">Detect the SIFT keypoints for a given point cloud for a single octave.</div><div class="ttdef"><b>Definition:</b> sift_keypoint.hpp:156</div></div>
<div class="ttc" id="aclasspcl_1_1_s_i_f_t_keypoint_html_a49af88108a4e7a9e769185be0c5dc84a"><div class="ttname"><a href="classpcl_1_1_s_i_f_t_keypoint.html#a49af88108a4e7a9e769185be0c5dc84a">pcl::SIFTKeypoint::scale_idx_</a></div><div class="ttdeci">int scale_idx_</div><div class="ttdoc">Set to a value different than -1 if the output cloud has a &quot;scale&quot; field and we have to save the keyp...</div><div class="ttdef"><b>Definition:</b> sift_keypoint.h:195</div></div>
<div class="ttc" id="aclasspcl_1_1_s_i_f_t_keypoint_html_a5fcabfa4b90cc77cf0c18a5b263d06a0"><div class="ttname"><a href="classpcl_1_1_s_i_f_t_keypoint.html#a5fcabfa4b90cc77cf0c18a5b263d06a0">pcl::SIFTKeypoint::setMinimumContrast</a></div><div class="ttdeci">void setMinimumContrast(float min_contrast)</div><div class="ttdoc">Provide a threshold to limit detection of keypoints without sufficient contrast</div><div class="ttdef"><b>Definition:</b> sift_keypoint.hpp:57</div></div>
<div class="ttc" id="aclasspcl_1_1_s_i_f_t_keypoint_html_a79b4f1c9356c27051d7ec7a2c471b991"><div class="ttname"><a href="classpcl_1_1_s_i_f_t_keypoint.html#a79b4f1c9356c27051d7ec7a2c471b991">pcl::SIFTKeypoint::min_scale_</a></div><div class="ttdeci">float min_scale_</div><div class="ttdoc">The standard deviation of the smallest scale in the scale space.</div><div class="ttdef"><b>Definition:</b> sift_keypoint.h:182</div></div>
<div class="ttc" id="aclasspcl_1_1_s_i_f_t_keypoint_html_a7b381aa10dc8c1701e7f1764a620bb8a"><div class="ttname"><a href="classpcl_1_1_s_i_f_t_keypoint.html#a7b381aa10dc8c1701e7f1764a620bb8a">pcl::SIFTKeypoint::computeScaleSpace</a></div><div class="ttdeci">void computeScaleSpace(const PointCloudIn &amp;input, KdTree &amp;tree, const std::vector&lt; float &gt; &amp;scales, Eigen::MatrixXf &amp;diff_of_gauss)</div><div class="ttdoc">Compute the difference-of-Gaussian (DoG) scale space for the given input and scales</div><div class="ttdef"><b>Definition:</b> sift_keypoint.hpp:211</div></div>
<div class="ttc" id="aclasspcl_1_1_s_i_f_t_keypoint_html_a8873bdacc195701f40e7145a2cf23b96"><div class="ttname"><a href="classpcl_1_1_s_i_f_t_keypoint.html#a8873bdacc195701f40e7145a2cf23b96">pcl::SIFTKeypoint::SIFTKeypoint</a></div><div class="ttdeci">SIFTKeypoint()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> sift_keypoint.h:112</div></div>
<div class="ttc" id="aclasspcl_1_1_s_i_f_t_keypoint_html_a9ce260543a3fe87f0e70c1b6f8fd9b28"><div class="ttname"><a href="classpcl_1_1_s_i_f_t_keypoint.html#a9ce260543a3fe87f0e70c1b6f8fd9b28">pcl::SIFTKeypoint::detectKeypoints</a></div><div class="ttdeci">void detectKeypoints(PointCloudOut &amp;output)</div><div class="ttdoc">Detect the SIFT keypoints for a set of points given in setInputCloud () using the spatial locator in ...</div><div class="ttdef"><b>Definition:</b> sift_keypoint.hpp:98</div></div>
<div class="ttc" id="aclasspcl_1_1_s_i_f_t_keypoint_html_aa7b165d782eca9c9d226504b84729439"><div class="ttname"><a href="classpcl_1_1_s_i_f_t_keypoint.html#aa7b165d782eca9c9d226504b84729439">pcl::SIFTKeypoint::setScales</a></div><div class="ttdeci">void setScales(float min_scale, int nr_octaves, int nr_scales_per_octave)</div><div class="ttdoc">Specify the range of scales over which to search for keypoints</div><div class="ttdef"><b>Definition:</b> sift_keypoint.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1_s_i_f_t_keypoint_html_ab907e9fe76da88d568ab5d1c8151d6d9"><div class="ttname"><a href="classpcl_1_1_s_i_f_t_keypoint.html#ab907e9fe76da88d568ab5d1c8151d6d9">pcl::SIFTKeypoint::nr_octaves_</a></div><div class="ttdeci">int nr_octaves_</div><div class="ttdoc">The number of octaves (i.e. doublings of scale) over which to search for keypoints.</div><div class="ttdef"><b>Definition:</b> sift_keypoint.h:185</div></div>
<div class="ttc" id="aclasspcl_1_1_s_i_f_t_keypoint_html_abe6d16ca2a452c065d83f32f7a9416d6"><div class="ttname"><a href="classpcl_1_1_s_i_f_t_keypoint.html#abe6d16ca2a452c065d83f32f7a9416d6">pcl::SIFTKeypoint::out_fields_</a></div><div class="ttdeci">std::vector&lt; pcl::PCLPointField &gt; out_fields_</div><div class="ttdoc">The list of fields present in the output point cloud data.</div><div class="ttdef"><b>Definition:</b> sift_keypoint.h:198</div></div>
<div class="ttc" id="aclasspcl_1_1_s_i_f_t_keypoint_html_ac982d9e5cb07edb578b262e588c08841"><div class="ttname"><a href="classpcl_1_1_s_i_f_t_keypoint.html#ac982d9e5cb07edb578b262e588c08841">pcl::SIFTKeypoint::min_contrast_</a></div><div class="ttdeci">float min_contrast_</div><div class="ttdoc">The minimum contrast required for detection.</div><div class="ttdef"><b>Definition:</b> sift_keypoint.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html">pcl::search::Search&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_normal_html"><div class="ttname"><a href="structpcl_1_1_point_normal.html">pcl::PointNormal</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, together with normal coordinates and the su...</div><div class="ttdef"><b>Definition:</b> point_types.hpp:859</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b.html">pcl::PointXYZRGB</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGB color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:607</div></div>
<div class="ttc" id="astructpcl_1_1_s_i_f_t_keypoint_field_selector_html"><div class="ttname"><a href="structpcl_1_1_s_i_f_t_keypoint_field_selector.html">pcl::SIFTKeypointFieldSelector</a></div><div class="ttdef"><b>Definition:</b> sift_keypoint.h:45</div></div>
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